/*
 * Copyright (c) 2013-2014,2020-2021 - Adjacent Link LLC, Bridgewater,
 * New Jersey
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in
 *   the documentation and/or other materials provided with the
 *   distribution.
 * * Neither the name of Adjacent Link LLC nor the names of its
 *   contributors may be used to endorse or promote products derived
 *   from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef EMANEPOSITIONORIENTATIONVELOCITY_HEADER_
#define EMANEPOSITIONORIENTATIONVELOCITY_HEADER_

#include "positionecef.h"
#include "positionneu.h"
#include "velocityecef.h"

#include "emane/position.h"
#include "emane/orientation.h"
#include "emane/velocity.h"

#include <utility>

namespace EMANE
{
  class PositionOrientationVelocity
  {
  public:
    PositionOrientationVelocity();

    PositionOrientationVelocity(const Position & position,
                                const std::pair<const Orientation &, bool> & orientation,
                                const std::pair<const Velocity &, bool> & velocity);

    bool update(const Position & position,
                const std::pair<const Orientation &, bool> & orientation,
                const std::pair<const Velocity &, bool> & velocity);

    const Position & getPosition() const;

    std::pair<const Orientation &, bool> getOrientation() const;

    std::pair<const Orientation &, bool> getAdjustedOrientation() const;

    std::pair<const Velocity &, bool> getVelocity() const;

    const PositionECEF & getPositionECEF() const;

    PositionNEU getPositionNEU(const PositionOrientationVelocity & other) const;

    const VelocityECEF & getVelocityECEF() const;

    bool isValid() const;

  private:
    Position position_;
    Orientation orientation_;
    Velocity velocity_;
    bool bValid_;
    bool bHasOrientation_;
    bool bHasVelocity_;
    PositionECEF positionECEF_;
    VelocityECEF velocityECEF_;
    Orientation adjustedOrientation_;
  };
}

#include "positionorientationvelocity.inl"

#endif // EMANEPOSITIONORIENTATIONVELOCITY_HEADER_
